import machine

class accel():

    def __init__(self, i2c, addr=0x68):

        self.iic = i2c

        self.addr = addr

        self.iic.start()

        self.iic.writeto(self.addr, bytearray([107, 0]))

        self.iic.stop()



    def get_raw_values(self):
        
        self.iic.start()

        a = self.iic.readfrom_mem(self.addr, 0x3B, 14)

        self.iic.stop()

        return a



    def get_ints(self):

        b = self.get_raw_values()

        c = []

        for i in b:

            c.append(i)

        return c



    def bytes_toint(self, firstbyte, secondbyte):

        if not firstbyte & 0x80:

            return firstbyte << 8 | secondbyte

        return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)



    def get_values(self):

        raw_ints = self.get_raw_values()

        vals = {}

        vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])

        vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])

        vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])

        vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53

        vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])

        vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])

        vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])

        return vals  # returned in range of Int16

        # -32768 to 32767



    def val_test(self):  # ONLY FOR TESTING! Also, fast reading sometimes crashes IIC

        from time import sleep

        while 1:

            print(self.get_values())

            sleep(0.05)
